U.S. patent application number 16/413022 was filed with the patent office on 2019-08-29 for device, endoscope robot device, and medical robot device, for driving robot joint using wire.
This patent application is currently assigned to THE ASAN FOUNDATION. The applicant listed for this patent is THE ASAN FOUNDATION, UNIVERSITY OF ULSAN FOUNDATION FOR INDUSTRY COOPERATION. Invention is credited to Jae Soon CHOI, Hoyul LEE, Young Jin MOON.
Application Number | 20190262087 16/413022 |
Document ID | / |
Family ID | 62145628 |
Filed Date | 2019-08-29 |
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United States Patent
Application |
20190262087 |
Kind Code |
A1 |
MOON; Young Jin ; et
al. |
August 29, 2019 |
DEVICE, ENDOSCOPE ROBOT DEVICE, AND MEDICAL ROBOT DEVICE, FOR
DRIVING ROBOT JOINT USING WIRE
Abstract
Provided are a device for driving a robot joint using a wire, an
endoscope robot device including the same, and a medical robot
device including the same. The device for driving a robot joint
includes at least: a base; a first link coupled with the base, and
configured to be rotatable relative to the base; a second link
coupled with the first link, and configured to be rotatable
relative to the first link; a plurality of wires positioned
opposite each other, and configured to generate motions of the
first and second links; and a wire drive device configured to drive
the plurality of wires. Each of the plurality of wires is fixed,
via the second link, on one of the base and the first link.
Positions where the plurality of wires are fixed are asymmetrical
to each other and have different heights to each other.
Inventors: |
MOON; Young Jin;
(Gangdong-gu, KR) ; CHOI; Jae Soon; (Songpa-gu,
KR) ; LEE; Hoyul; (Paju-si, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
THE ASAN FOUNDATION
UNIVERSITY OF ULSAN FOUNDATION FOR INDUSTRY COOPERATION |
Seoul
Ulsan |
|
KR
KR |
|
|
Assignee: |
THE ASAN FOUNDATION
Seoul
KR
UNIVERSITY OF ULSAN FOUNDATION FOR INDUSTRY COOPERATION
Ulsan
KR
|
Family ID: |
62145628 |
Appl. No.: |
16/413022 |
Filed: |
May 15, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
PCT/KR2017/011770 |
Oct 24, 2017 |
|
|
|
16413022 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/00133 20130101;
B25J 9/10 20130101; A61B 1/00 20130101; A61B 2017/00327 20130101;
A61B 34/30 20160201; A61B 1/0057 20130101; A61B 2017/00314
20130101; A61B 2034/301 20160201; B25J 11/00 20130101; B25J 18/04
20130101; B25J 9/104 20130101; B25J 9/06 20130101; A61B 1/0055
20130101; A61B 34/71 20160201; A61B 34/00 20160201; A61B 1/008
20130101 |
International
Class: |
A61B 34/30 20060101
A61B034/30; B25J 9/10 20060101 B25J009/10; B25J 9/06 20060101
B25J009/06; A61B 34/00 20060101 A61B034/00 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 16, 2016 |
KR |
10-2016-0152825 |
Claims
1. A device for driving a robot joint using a wire, the device
comprising: a base; a first link coupled with the base, and
configured to be rotatable relative to the base; a second link
coupled with the first link, and configured to be rotatable
relative to the first link; a plurality of wires positioned
opposite to each other, the plurality of wires being configured to
generate motions of the first link and the second link; and a wire
drive device configured to drive the plurality of wires, wherein
each of the plurality of wires is fixed, via the second link, on
one of the base and the first link, and positions where the
plurality of wires are fixed are asymmetrical to each other and
have different heights to each other.
2. The device of claim 1, wherein the second link includes at least
one winding part around which the plurality of wires are wound.
3. The device of claim 2, wherein the at least one winding part
includes at least one of a pulley, a protrusion, and an
opening.
4. The device of claim 1, wherein at least one of the plurality of
wires is fixed on the first link via the second link and further
via the base.
5. The device of claim 4, wherein the base includes at least one
winding part around which the at least one wire among the plurality
of wires is wound.
6. The device of claim 1, further comprising: springs interposed
between the base and the first link and between the first link and
the second link.
7. The device of claim 6, wherein the springs comprise a first
spring interposed between the base and the first link, and a second
spring interposed between the first link and the second link.
8. The device of claim 1, wherein the plurality of wires comprise a
first wire and a second wire, the first wire is positioned opposite
to the second wire, the first wire is fixed, via the second link,
on a first portion of the base, the second wire is fixed, via the
second link, on a second portion of the first link, and the first
portion of the base is positioned in a first height that is
different from a second height of the second portion of the first
link.
9. An endoscopic robot device comprising the device of claim 1 for
driving the robot joint using the wire.
10. A medical robot device comprising the device of claim 1 for
driving the robot joint using the wire.
11. A device for driving a robot joint using a wire, the device
comprising: a base; a robot arm including a plurality of links, the
plurality of links are extending from the base, coupled with each
other, and configured to be rotatable relative to each other; a
plurality of wires positioned opposite to each other, the plurality
of wires are configured to generate a motion of the robot arm; and
a wire drive device configured to drive the plurality of wires,
wherein two or more of the plurality of wires are fixed, via a
first link among the plurality of links, on one of the base and a
second link among the plurality of links, and positions where the
two or more of the plurality of wires are fixed are asymmetrical to
each other and have different heights to each other.
12. An endoscopic robot device comprising the device of claim 11
for driving the robot joint using the wire.
13. A medical robot device comprising the device of claim 11 for
driving the robot joint using the wire.
14. A device for driving a robot joint using a wire, the device
comprising: a base; a robot arm including a plurality of links, the
plurality of links are extending from the base, coupled with each
other, and configured to be rotatable relative to each other; a
plurality of wires positioned opposite to each other, the plurality
of wires are configured to generate a motion of the robot arm; and
a wire drive device configured to drive the plurality of wires,
wherein the plurality of wires are fixed, via a first link among
the plurality of links, on one of the base and a second link among
the plurality of links, and positions where the plurality of wires
are fixed are symmetrical to each other, and wherein the device
further comprises springs interposed between the base and the first
link and between the first link and the second link.
15. The device of claim 14, wherein the springs comprise a first
spring interposed between the base and the first link, and a second
spring interposed between the first link and the second link.
16. The device of claim 14, wherein the plurality of wires includes
a first wire and a second wire, the first wire is fixed, via the
first line and via the base, on the second link, the second wire is
fixed, via only the first line, on the second link.
17. The device of claim 14, wherein the plurality of wires includes
a first wire and a second wire, the first wire is fixed, via the
first line and via the base, on the second link, the second wire is
fixed, via the first line and via the base, on the second link.
18. An endoscopic robot device comprising the device of claim 14
for driving the robot joint using the wire.
19. A medical robot device comprising the device of claim 14 for
driving the robot joint using the wire.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation of International
Patent Application No. PCT/KR2017/011770, filed Oct. 24, 2017,
which claims the benefit of priority to Korean Patent Application
No. 10-2016-0152825 filed on Nov. 16, 2016. The disclosures of the
above-listed applications are hereby incorporated by reference
herein in their entirety.
RELATED ART
[0002] Embodiments of the inventive concept described herein relate
to a device, an endoscopic robot device, and a medical robot
device, for driving a robot joint using a wire.
[0003] Surgical robots or surgical instruments that are put into a
human body have to be made compact, and hence a mechanism for
driving a joint by a wire without directly mounting a motor to the
joint is applied in many cases. Representative examples include
commercial endoscopes, catheters, and surgical robots. A motor for
driving a wire is provided inside a surgical robot. To increase the
degree of freedom in motion of the surgical robot, the number of
wires has to be increased. However, with the increase in the number
of wires, the number of motors is also increased, and therefore it
is difficult to make the surgical robot compact.
SUMMARY
[0004] Embodiments of the inventive concept provide a device for
driving a robot joint using a wire, the device being capable of
generating various motions by a relatively small number of wires,
and an endoscopic robot device and a medical robot device, which
include the device.
[0005] The problems to be solved by the present disclosure are not
limited to the aforementioned problems, and any other problems not
mentioned herein will be clearly understood from the following
description by those skilled in the art to which the present
disclosure pertains.
[0006] According to exemplary embodiments, a device for driving a
robot joint using a wire includes a base, a first link coupled with
the base, and configured to be rotatable relative to the base, a
second link coupled with the first link, and configured to be
rotatable relative to the first link, a plurality of wires that are
positioned opposite to each other and that generate motions of the
first link and the second link, and a wire drive device that drives
the plurality of wires. Each of the plurality of wires is fixed,
via the second link, on one of the base and the first link, and
positions where the plurality of wires are fixed are asymmetrical
to each other and have different heights to each other.
[0007] According to other exemplary embodiments, a device for
driving a robot joint using a wire includes a base, a robot arm
including a plurality of links extending from the base and coupled
with each other, and configured to be rotatable relative to each
other, a plurality of wires positioned opposite to each other, and
configured to generate a motion of the robot arm, and a wire drive
device that drives the plurality of wires. Two or more of the
plurality of wires are fixed, via a first link among the plurality
of links, on one of the base and a second link among the plurality
of links, and positions where the two or more of the plurality of
wires are fixed are asymmetrical to each other and have different
heights to each other.
[0008] According to other exemplary embodiments, a device for
driving a robot joint using a wire includes a base, a robot arm
including a plurality of links extending from the base and coupled
with each other, and configured to be rotatable relative to each
other, a plurality of wires positioned opposite to each other, and
configured to generate a motion of the robot arm, and a wire drive
device that drives the plurality of wires. The plurality of wires
are fixed, via a first link among the plurality of links, to one of
the base and a second link among the plurality of links, positions
where the plurality of wires are fixed are symmetrical to each
other. The device further includes springs interposed between the
base and the first link and between the first link and the second
link, respectively.
[0009] Other specific details of embodiments of the present
disclosure are included in the detailed description and the
drawings.
BRIEF DESCRIPTION OF DRAWINGS
[0010] The above and other objects and features will become
apparent from the following description with reference to the
following figures, wherein like reference numerals refer to like
parts throughout the various figures unless otherwise specified,
and wherein:
[0011] FIG. 1 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure;
[0012] FIG. 2 is a schematic view illustrating a drive mechanism of
the device of FIG. 1 for driving the robot joint using the
wire;
[0013] FIGS. 3A to 3C are schematic views illustrating motions of
the device of FIG. 1 for driving the robot joint using the
wire;
[0014] FIG. 4 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure;
[0015] FIG. 5 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure;
[0016] FIG. 6 is a schematic view illustrating a drive mechanism of
the device of FIG. 5 for driving the robot joint using the
wire;
[0017] FIG. 7 is a schematic view illustrating a motion of the
device of FIG. 5 for driving the robot joint using the wire;
[0018] FIG. 8 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure;
[0019] FIG. 9 is a schematic view illustrating a drive mechanism of
the device of FIG. 8 for driving the robot joint using the
wire;
[0020] FIG. 10 is a schematic view illustrating a motion of the
device of FIG. 8 for driving the robot joint using the wire;
[0021] FIGS. 11A and 11B are schematic views illustrating a
configuration of a device for driving a robot joint using a wire
according to some embodiments of the present disclosure;
[0022] FIG. 12 is a schematic view illustrating an endoscopic robot
device including a device for driving a robot joint using a wire
according to some embodiments of the present disclosure; and
[0023] FIG. 13 is a schematic view illustrating a medical robot
device including a device for driving a robot joint using a wire
according to some embodiments of the present disclosure.
DETAILED DESCRIPTION
[0024] The above and other aspects, features, and advantages of the
inventive concept will become apparent from the following
description of embodiments given in conjunction with the
accompanying drawings. However, the inventive concept is not
limited to the embodiments disclosed herein and may be implemented
in various different forms. Herein, the embodiments are provided to
provide complete disclosure of the inventive concept and to provide
thorough understanding of the inventive concept to those skilled in
the art to which the inventive concept pertains, and the scope of
the inventive concept should be limited only by the accompanying
claims and equivalents thereof.
[0025] Terms used herein are only for description of embodiments
and are not intended to limit the inventive concept. As used
herein, the singular forms are intended to include the plural forms
as well, unless context clearly indicates otherwise. It will be
further understood that the terms "comprise" and/or "comprising"
specify the presence of stated features, components, and/or
operations, but do not preclude the presence or addition of one or
more other features, components, and/or operations. In addition,
like numerals will denote like components throughout the
specification, and the meaning of "and/or" includes each mentioned
item and every combination of mentioned items. It will be
understood that, although the terms first, second, etc. may be used
herein to describe various components, these components should not
be limited by these terms. These terms are only used to distinguish
one component from another component. Thus, a first component
discussed below could be termed a second component without
departing from the teachings of the inventive concept.
[0026] Unless otherwise defined, all terms (including technical and
scientific terms) used herein have the same meaning as commonly
understood by those skilled in the art to which the inventive
concept pertains. It will be further understood that terms, such as
those defined in commonly used dictionaries, should not be
interpreted in an idealized or overly formal sense unless expressly
so defined herein.
[0027] Spatially relative terms, such as "beneath", "below",
"lower", "above", "upper" and the like, may be used herein for ease
of description to describe one component or feature's relationship
to another component(s) or feature(s) as illustrated in the
figures. It will be understood that the spatially relative terms
are intended to encompass different orientations of the device in
use or operation in addition to the orientation depicted in the
figures. For example, if the device in the figures is turned over,
components described as "below" or "beneath" other components or
features would then be oriented "above" the other components or
features. Thus, the exemplary term "below" can encompass both an
orientation of above and below. The device may be otherwise
oriented (rotated 90 degrees or at other orientations) and the
spatially relative descriptors used herein interpreted
accordingly.
[0028] Hereinafter, embodiments of the inventive concept will be
described in detail with reference to the accompanying
drawings.
[0029] FIG. 1 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure.
[0030] Referring to FIG. 1, the device 100 for driving the robot
joint using the wire includes a base 110, a plurality of links 120
and 130, a pair of wires 151 and 152 for generating motions of the
plurality of links 120 and 130, and a wire drive device 170 for
driving the wires 151 and 152.
[0031] The plurality of links 120 and 130 are extended from the
base 110 and are disposed adjacent to each other. The plurality of
links 120 and 130 are coupled with the base 110 along with the same
axial direction. The first link 120 is coupled with the base 110
through a rotary joint 141, and the second link 130 is coupled with
the first link 120 through a rotary joint 142. In some embodiments,
each of the links 120 and 130 has a ring shape. In some
embodiments, each of the links 120 and 130 is coupled with one of
the base 110 and the other link 120 or 130, through two or more
rotary joints. Accordingly, the first link 120 is configured to be
rotatable relative to the base 110, and the second link 130 is
configured to be rotatable relative to the first link 120. In some
embodiments, a plurality of other links (not shown in FIG. 1) are
additionally interposed between the base 110 and the first link 120
or between the first link 120 and the second link 130. The
plurality of links 120 and 130 configured to be rotatable relative
to each other constitute at least part of a robot arm.
[0032] The pair of wires 151 and 152 are coupled to the wire drive
device 170 at one end thereof and fixed on the plurality of links
120 and 130 at the other end thereof. The first wire 151 is
extended to one side of the robot arm (e.g., the left side in FIG.
1) and is fixed, and the second wire 152 extends to an opposite
side of the robot arm (e.g., the right side in FIG. 1) and is
fixed. The pair of wires 151 and 152 are pulled or released by the
wire drive device 170 to generate motions of the plurality of links
120 and 130. Accordingly, in some embodiments, the robot arm is
bent toward the one side or the opposite side.
[0033] The wire drive device 170 drives the plurality of links 120
and 130 through the pair of wires 151 and 152. The wire drive
device 170 pulls or releases the pair of wires 151 and 152 to cause
the plurality of links 120 and 130 to generate motions while
rotating. For example, the wire drive device 170 is implemented
with at least one of a DC motor, a servo motor, and a step motor.
However, the present disclosure is not limited thereto.
[0034] In the device 100 for driving the robot joint using the wire
according to the some embodiments of the present disclosure, at
least one of the pair of wires 151 and 152 is not directly fixed to
the base 110, the first link 120, or the second link 130, but fixed
thereto via at least one link disposed on an upper side of the
fixed position, unlike in a conventional device for driving a robot
joint using a wire. That is, in some embodiments, at least one of
the pair of wires 151 and 152 is fixed, via one of the plurality of
links 120 and 130, on the base 120 or the other one of the
plurality of links 120 and 130. Furthermore, the pair of wires 151
and 152 positioned opposite to each other, and positions where the
pair of wires 151 and 152 are fixed on the different links 120 and
130 are asymmetrical to each other and have different height to
each other.
[0035] Referring to the some embodiments illustrated in FIG. 1, the
first wire 151 is fixed, via the second link 130, on the base 110.
A winding part 161 for winding the first wire 151 is provided on
one side of the second link 130. The second wire 152 is fixed, via
the second link 130, on the first link 120. A winding part 162 for
winding the second wire 152 is provided on an opposite side of the
second link 130. In some embodiments , the winding parts 161 and
162 are implemented with at least one of a pulley, a protrusion,
and an opening. However, the present disclosure is not limited
thereto.
[0036] FIG. 2 is a schematic view illustrating a drive mechanism of
the device of FIG. 1 for driving the robot joint using the
wire.
[0037] Referring to FIG. 2, a movable pulley effect is applied to
the robot because the pair of wires 151 and 152 are fixed on the
base 110 and one link 120 via the other link 130 disposed on the
upper side. Forces two times greater than forces pulling the wires
from the outside are applied to the plurality of links 120 and 130
by the movable pulley effect. Furthermore, various motions are
generated by the difference between the forces applied to the
respective links because the pair of wires 151 and 152 positioned
opposite to each other are asymmetrically fixed on the different
links 120 and 130.
[0038] According to a conventional mechanism for driving a joint by
a wire, differently from what is shown in FIG. 2, a wire fastening
method in which one of a pair of wires is fixed to the one side of
the second link 130 and the other wire is fixed to the opposite
side of the second link 130 is applied.
[0039] In the above case according to the conventional mechanism, a
force of F1 pulling the wire on the one side and a force of F2
pulling the wire on the opposite side are identically transmitted
to the target link 130. Therefore, in the case where F1 is greater
than F2, the plurality of links 120 and 130 are all rotated toward
the one side such that the robot arm is bent toward the one side,
and in the case where F2 is greater than F1, the plurality of links
120 and 130 are all rotated toward the opposite side such that the
robot arm is bent toward the opposite side. That is, in the above
case according to the conventional mechanism, the plurality of
links 120 and 130 are moved in the same direction without being
independently controlled. In the above case according to the
conventional mechanism, to independently control motions of the
plurality of links 120 and 130, a pair of wires have to be added
and fixed on one side and an opposite side of the second link
120.
[0040] By contrast to the aforementioned conventional mechanism,
according to the some embodiments of the present disclosure, the
movable pulley effect is applied so that a force of 2F1, which is
two times greater than the force F1, pulling the wire 151 on the
one side is applied between the base 110 and the second link 130, a
force of 2F2, which is two times greater than the force F2, pulling
the wire 152 on the opposite side is applied between the first link
120 and the second link 130, and a force F2 of the same magnitude
is applied between the base 110 and the first link 120.
Accordingly, when the wires 151 and 152 are pulled by predetermined
forces, various motions of the robot arm are generated by the
difference between forces applied to one side and an opposite side
of each of the plurality of links 120 and 130.
[0041] In addition, in some embodiments, the plurality of links 120
and 130 are independently controlled to move in different
directions.
[0042] In some embodiments, the forces F1 and F2 pulling the pair
of wires 151 and 152 are appropriately adjusted to bring both side
forces applied between the first link 120 and the second link 130
into equilibrium and make one of both side forces applied between
the base 110 and the first link 120 greater than the other.
Accordingly, in some embodiments, only the first link 120 of the
device 100 for driving the robot joint using the wire is rotated
toward the one side or the opposite side such that the plurality of
links 120 and 130 are integrally rotated, that is, only the lower
part of the robot arm is bent toward the one side or the opposite
side, as shown in FIG. 3A.
[0043] Alternatively, in some other embodiments, by bringing both
the side forces applied between the base 110 and the first link 120
into equilibrium and making one of both the side forces applied
between the first link 120 and the second link 130 greater than the
other, only the second link 130 of the device 100 for driving the
robot joint using the wire is rotated toward the one side or the
opposite side, while the first link 120 fixed, as shown in FIG.
3B.
[0044] In some embodiments, the device 100 for driving the robot
joint using the wire generates a motion in which both the first
link 120 and the second link 130 are rotated. In such embodiments,
the first link 120 and the second link 130 are independently
rotated, and therefore, the first link 120 and the second link 130
are rotated in different directions. That is, for example, it is
possible that the first link 120 is rotated toward the one side,
and that the second link 130 is rotated toward the opposite side,
as shown in FIG. 3C.
[0045] According to the some embodiments of the present disclosure,
the motions of the robot arm for which two pairs of wires are
required by the conventional mechanism for driving the joint by the
wire is substantially identically implemented with only one pair of
wires.
[0046] As the number of links constituting the robot arm increases,
the number of wires and wire drive devices for controlling motions
of the links also increases. Therefore, according to the
conventional mechanism for driving the joint by the wire, which
requires a number of wires, it is difficult to make the robot arm
compact. By contrast, according to the some embodiments of the
present disclosure, the device 100 generates substantially the same
motions by using a smaller number of wires than the conventional
mechanism for driving the joint by the wire, and thus the robot arm
according to the present disclosure is made more compact.
[0047] FIG. 4 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure. For convenience of
description, the following description will be focused on the
difference from FIG. 1.
[0048] Referring to FIG. 4, a pair of wires 153 and 154 of the
device 200 for driving the robot joint using the wire are all fixed
to the same link 120, unlike in the device 100 for driving the
robot joint using the wire, which has been described above with
reference to FIG. 1. The first wire 153 changes in direction twice.
That is, the first wire 153 is fixed to a first link 120
sequentially via a second link 130 and a base 110. A winding part
161 for winding the first wire 153 is provided on one side of the
second link 130, and a winding part 163 for winding the first wire
153 is provided on one side of the base 110. The second wire 154 is
fixed to the first link 120 via the second link 130. A winding part
162 for winding the second wire 154 is provided on an opposite side
of the second link 130, which is opposite to the one side for the
winding part 161. In some embodiments, the winding parts 161, 162,
and 163 are implemented with a pulley, a protrusion, and/or an
opening. However, the present disclosure is not limited
thereto.
[0049] A drive mechanism and motions of the device of FIG. 4 for
driving the robot joint using the wire are substantially the same
as those described above with reference to FIGS. 2 and 3A to 3C,
differing only in the magnitudes of forces applied between the base
110 and the first link 120 and between the first link 120 and the
second link 130 by a force pulling the wire 163 on the one
side.
[0050] FIG. 5 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure. For convenience of
description, the following description will be focused on the
difference from FIG. 1.
[0051] Referring to FIG. 5, a pair of wires 155 and 156 of the
device 300 for driving the robot joint using the wire are all fixed
to the same link 120, unlike in the device 100 for driving the
robot joint using the wire, which has been described above with
reference to FIG. 1. The pair of wires 155 and 156 are fixed to one
side and an opposite side of the first link 120 via a second link
130, respectively. A winding part 161 for winding the wire 155 is
provided on one side of the second link 130, and a winding part 162
for winding the wire 156 is provided on an opposite side of the
second link 130. In some embodiments, the winding parts 161, 162,
and 163 are implemented with a pulley, a protrusion, and/or an
opening. However, the present disclosure is not limited
thereto.
[0052] Additionally, springs 181 and 182 are interposed between the
base 110 and the link 120 and between the link 120 and the link
130, respectively.
[0053] FIG. 6 is a schematic view illustrating a drive mechanism of
the device of FIG. 5 for driving the robot joint using the
wire.
[0054] Referring to FIG. 6, a movable pulley effect is applied so
that a force of 2F1, which is two times greater than a force of F1,
pulling the wire 155 on the one side is applied between the first
link 120 and the second link 130 and a force F1 of the same
magnitude is applied between the base 110 and the first link 120.
Furthermore, a force of 2F2, which is two times greater than a
force of F2, pulling the wire 156 on the opposite side is applied
between the first link 120 and the second link 130, and a force F2
of the same magnitude is applied between the base 110 and the first
link 120. Accordingly, when the wires 155 and 156 are pulled by
predetermined forces, the magnitude of the force applied to the
second link 130 is greater than the magnitude of the force applied
to the first link 120.
[0055] Thus, in some embodiments, when the wires 155 and 156 are
pulled, the second link 130 is rotated more than the first link
120. That is, in such embodiments, the upper part of the robot arm
is bent more than the lower part thereof. As a result, in some
embodiments, the robot arm has different curvatures (degrees of
bending) for respective parts, rather than the same curvature as a
whole. In some embodiments, the curvatures of the robot arm are
adjusted depending on the number of wound wires 155 and 156 and/or
the difference in stiffness between the springs 181 and 182.
[0056] FIG. 7 is a schematic view illustrating a motion of the
device of FIG. 5 for driving the robot joint using the wire.
[0057] According to the some embodiments of the present disclosure,
the curvatures of the robot arm are changed or adjusted, which is
impossible with the conventional mechanism for driving the joint by
the wire.
[0058] FIG. 8 is a schematic view illustrating a configuration of a
device for driving a robot joint using a wire according to some
embodiments of the present disclosure. For convenience of
description, the following description will be focused on the
difference from FIG. 1.
[0059] Referring to FIG. 8, a pair of wires 157 and 158 of the
device 400 for driving the robot joint using the wire are all fixed
to the same link 120, unlike in the device 100 for driving the
robot joint using the wire, which has been described above with
reference to FIG. 1. The pair of wires 157 and 158 all change in
direction twice. That is, the pair of wires 157 and 158 are fixed
to one side and an opposite side of the first link 120 sequentially
via a second link 130 and a base 110. A winding part 161 for
winding the wire 157 is provided on one side of the second link
130, and a winding part 162 for winding the wire 158 is provided on
an opposite side of the second link 130. A winding part 163 for
winding the wire 157 is provided on one side of the base 110, and a
winding part 164 for winding the wire 158 is provided on an
opposite side of the base 110. In some embodiments, the winding
parts 161, 162, and 163 are implemented with a pulley, a
protrusion, and/or an opening. However, the present disclosure is
not limited thereto.
[0060] Additionally, springs 181 and 182 are interposed between the
base 110 and the link 120 and between the link 120 and the link
130, respectively.
[0061] FIG. 9 is a schematic view illustrating a drive mechanism of
the device of FIG. 8 for driving the robot joint using the
wire.
[0062] Referring to FIG. 9, a movable pulley effect is applied so
that a force of 2F1, which is two times greater than a force of F1,
pulling the wire 157 on the one side is applied between the first
link 120 and the second link 130 and a force of 3F1, which is three
times greater than the force F1, is applied between the base 110
and the first link 120. Furthermore, a force of 2F2, which is two
times greater than a force of F2, pulling the wire 158 on the
opposite side is applied between the first link 120 and the second
link 130, and a force of 3F2, which is three times greater than the
force F2, is applied between the base 110 and the first link 120.
Accordingly, when the wires 157 and 158 are pulled by predetermined
forces, the magnitude of the force applied to the first link 120 is
greater than the magnitude of the force applied to the second link
130.
[0063] Thus, in some embodiments, when the wires 157 and 158 are
pulled, the first link 120 is rotated more than the second link
120. That is, in such embodiments, the lower part of the robot arm
is bent more than the upper part thereof. As a result, in some
embodiments, the robot arm has different curvatures (degrees of
bending) for respective parts, rather than the same curvature as a
whole. The curvatures of the robot arm are adjusted depending on
the number of wound wires 157 and 158 and/or the difference in
stiffness between the springs 181 and 182.
[0064] FIG. 10 is a schematic view illustrating a motion of the
device of FIG. 8 for driving the robot joint using the wire.
[0065] Meanwhile, the wire fastening method is not limited to the
some embodiments illustrated and may be variously modified in
non-illustrated manners so as to be suitable for required motions
according to the uses of the robot arm.
[0066] FIGS. 11A and 11B are schematic views illustrating a
configuration of a device for driving a robot joint using a wire
according to some embodiments of the present disclosure. FIG. 11A
is a front view of the configuration of the device, and FIG. 11B is
a side view of the configuration of the device.
[0067] Referring to FIGS. 11A and 11B, the device 500 for driving
the robot joint using the wire includes a base 210, a plurality of
links 220, 230, 240, and 250, two pairs of wires 261, 262, 263, and
264 for generating motions of the plurality of links 220, 230, 240,
and 250, and a wire drive device (not illustrated) for driving the
wires 261, 262, 263, and 264.
[0068] In some embodiments, each of the links 220, 230, 240, and
250 has a ring shape. The links 220, 230, 240, and 250 are
alternately coupled together with respect to a vertical axis and a
horizontal axis to increase a fastening force. That is, the first
link 220 is coupled with the base 210 and configured to be
rotatable in an up-down direction, and the second link 230 above
the first link 220 is coupled with the first link 220 and
configured to be rotatable in a left-right direction. In some
embodiments, a plurality of other links are additionally interposed
between the base 210 and the link 220 or between the links 220,
230, 240, and 250.
[0069] FIG. 12 is a schematic view illustrating an endoscopic robot
device including a device for driving a robot joint using a wire
according to some embodiments of the present disclosure.
[0070] Referring to FIG. 12, the endoscopic robot device 1000
includes a distal end part 1100, a shaft assembly 1200, a body
assembly 1300, a control assembly 1400, and a connection assembly
1500.
[0071] The shaft assembly 1200 includes a bending section adjacent
to the distal end part 110. In some embodiments, the bending
section is bent according to a predetermined degree of freedom. In
some embodiments, one or more the above-described devices 100, 200,
300, 400, and 500 for driving the robot joint using the wire
according to the embodiments of the present disclosure are provided
in the bending section of the shaft assembly 1200.
[0072] In some embodiments, the endoscopic robot device 1000
further include other components not explicitly illustrated in the
present disclosure, based on knowledge of one of ordinary skill in
the art.
[0073] FIG. 13 is a schematic view illustrating a medical robot
device including a device for driving a robot joint using a wire
according to some embodiments of the present disclosure.
[0074] Referring to FIG. 13, the medical robot device 2000 includes
a robot arm (not illustrated), and the robot arm has an end
effector on an end portion thereof, which has a predetermined
function such as grip, incision, or claw.
[0075] In some embodiments, one or more of the above-described
devices 100, 200, 300, 400, and 500 for driving the robot joint
using the wire according to the embodiments of the present
disclosure are provided in the robot arm or the end effector of the
medical robot device 2000.
[0076] According to some embodiments of the present disclosure, the
above-described devices 100, 200, 300, 400, and 500 for driving the
robot joint using the wire is controlled by a computer processor
that includes all the various devices capable of performing
arithmetic processing. For example, the processor corresponds to
not only a computer, such as a desktop personal computer (PC) or a
notebook, but also a smart phone, a tablet PC, a cellular phone, a
mobile terminal, and the like. Furthermore, instructions for
controlling the above-described devices 100, 200, 300, 400, and 500
for driving the robot joint using the wire are stored in memory
connected with the computer processor. In some embodiments, the
above controlling is performed automatically according to the
instructions. In some other embodiments, the above controlling is
performed manually according to a user control.
[0077] According to the device for driving the robot joint using
the wire according to the inventive concept, a movable pulley
effect is applied to the links constituting the robot arm, and
various motions are generated by a relatively small number of wires
according to the difference between forces applied to the plurality
of wires opposite to each other.
[0078] Effects of the inventive concept are not limited to the
aforementioned effects, and any other effects not mentioned herein
will be clearly understood from the following description by those
skilled in the art to which the inventive concept pertains.
[0079] While the inventive concept has been described with
reference to exemplary embodiments, it will be apparent to those
skilled in the art that various changes and modifications may be
made without departing from the spirit and scope of the inventive
concept. Therefore, it should be understood that the above
embodiments are not limiting, but illustrative.
* * * * *